Add vinegar mixture from onions to skillet. Bring to a boil, reduce heat, cover and simmer 15 minutes or until an instant-read thermometer inserted in thickest part of legs, not touching bone, registers 170°F.

Remove chicken to a platter; cover loosely with foil.

Add reserved onions to sauce in skillet. Increase heat to medium-high and cook uncovered, stirring often, 3 to 5 minutes until onions are crisp-tender. Stir in zucchini and peppers. Remove from heat; stir in cilantro. Pour over chicken.

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